
#ifndef TODO_CHANGE_TO_PROJECT_NAME_PID_PARAM_H
#define TODO_CHANGE_TO_PROJECT_NAME_PID_PARAM_H



typedef struct{
    float NowAngle;
    float LastAngle;
    float NowSpeed;
    float Now_current;
    float temperature;
    float Last_speed;
    float Llast_speed;
    float OutputValue;
    float OutputValue2;
    float LastoutputValue; //上次输出值



    float offset_angle;
    int     total_angle ;
    float     all_angle;

    int M3508_Check;



    int DP_OutputValue;      	//输出值
    int DS_OutputValue;    		//输出值副本


    float P_OutputValue;      	//输出值
    int S_OutputValue;    		//输出值副本

    float WheelAngle;

    int DiError;//积分值
    int iError;//积分值

    //串级偏差
    float NowError;          	//当前偏差
    float LastError;         	//上次偏差
    float DLastError;         	//上次偏差

    float LlastError;	    		//上上次偏差
    float DLlastError;	    		//上上次偏差

    //位置偏差
    float DP_NowError;          	//当前偏差
    float DP_LastError;         	//上次偏差
    float DP_LlastError;	    		//上上次偏差


    //位置偏差
    float P_NowError;          	//当前偏差
    float P_LastError;         	//上次偏差
    float P_LlastError;	    		//上上次偏差

    //速度偏差
    float S_NowError;          	//当前偏差
    float S_LastError;         	//上次偏差
    float S_LlastError;	    		//上上次偏差

    //定义位置式6020PID系数
    float  Position_kp_6020,Position_ki_6020,Position_kd_6020;
    //定义位置式PID系数
    float  Position_kp,Position_ki,Position_kd;
    //定义增量式PID系数
    float  Increment_kp,Increment_ki,Increment_kd;

    //串级PID参数
    float  Pos_kp,Pos_ki,Pos_kd;
    float  Speed_kp,Speed_ki,Speed_kd;

}pid_control0;




#endif //TODO_CHANGE_TO_PROJECT_NAME_PID_PARAM_H
